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3807 Commits

Author SHA1 Message Date
Samuel Tabor
db8aaeb63a Plane: During takeoff keep limit at LEVEL_ROLL_LIMIT until rotate speed is reached. 2021-02-09 10:08:41 +11:00
Andrew Tridgell
2e9b2fbc2b Plane: update release notes for 4.0.9beta1 2021-02-06 15:46:01 +11:00
Peter Barker
af29f34f2c Plane: store previous_mode_reason only as a local 
It's never used outside the mode-changing method.
 2021-02-03 20:33:25 +11:00
Iampete1
e600df680e Plane: instantly switch from RTL to QRTL if within radius 2021-02-03 18:53:54 +11:00
Patrick José Pereira
cdc7f891a9 ArduPlane: Add missing const in member functions 
Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>
 2021-02-03 18:45:14 +11:00
Peter Barker
eaa6b36077 ArduPlane: move control_mode_reason up to AP_Vehicle 2021-02-03 18:24:52 +11:00
Peter Barker
b6d0208287 Plane: allow arming in all auto-throttle modes 
... except QRTL and QLAND which are now universally denied for arming.
 2021-02-03 18:22:10 +11:00
Peter Barker
a9be4480b1 Plane: mark q modes as not having auto-throttle control 
Reverts part of 6baaf03c8c

AvoidADSB was NOT marked as AutoThrottle before that commit but was
marked as such in that commit.
 2021-02-03 18:22:10 +11:00
Samuel Tabor
d2c8eb8ce9 Plane: Allow AP_Soaring to specify loiter radius in THERMAL mode. 2021-01-29 11:20:09 -08:00
Andrew Tridgell
b20604bb59 Plane: update release notes for 4.0.8 2021-01-26 17:17:40 +11:00
Iampete1
004f873dc7 Plane: update Quadplane FRAME_CLASS description 2021-01-26 11:07:36 +09:00
Andrew Tridgell
5f4b5c4b94 Plane: prevent failsafe from changing mode during landing 
this prevents RC or GCS failsafe from triggering a mode change during
a landing
 2021-01-26 11:17:10 +11:00
Peter Barker
87486739d1 Plane: disallow changing to INITIALISING mode 2021-01-26 10:47:27 +11:00
Randy Mackay
d487d6152e Plane: ahrs pre-arm always runs position checks 2021-01-26 10:46:49 +11:00
Peter Barker
95bc9cca79 ArduPlane: use ground_course in preference to ground_course_cd 2021-01-26 10:22:28 +11:00
Randy Mackay
0d0ff63242 Plane: ensure wp_nav::wp_and_spline_init is called at least once 2021-01-20 18:22:44 +11:00
Iampete1
e4fbe64616 Plane: add QuadPlane singleton 2021-01-19 11:18:10 +11:00
Peter Hall
05fb14e5d9 Plane: tailsitter start transition from initial pitch 2021-01-19 10:46:58 +11:00
Iampete1
4dec597372 Plane: move quadplane logging to QuadPlane: update() 2021-01-19 10:24:05 +11:00
Samuel Tabor
d97a81bfea Plane: Re-order logic in soaring.cpp. 2021-01-13 18:35:53 +11:00
Samuel Tabor
a8549f5e5f Plane: Use const method on modes classes to mark those that support auto switch to THERMAL mode. 2021-01-13 18:35:53 +11:00
Peter Barker
b698546b70 ArduPlane: add do_disarm_checks boolean to disarm call 
this creates symmetry between arming and disarming, at least as far as
the top-level arm() and disarm() calls are concerned.
 2021-01-12 08:48:44 +09:00
Pierre Kancir
742cfc543f Plane: fix parameter unit 2021-01-12 10:21:55 +11:00
Josh Henderson
cc1e395854 ArduPlane: privatize AHRS logging 2021-01-12 10:13:22 +11:00
Peter Barker
6baaf03c8c Plane: move auto_throttle_mode to being a method on each mode 2021-01-10 16:04:30 +11:00
Peter Barker
f6cb1b5ad6 Plane: use a method on Mode for auto-navigation-mode 
Avoids the state getting stale, which it will with a failed attempt to
go into qautotune, for example.
 2021-01-10 16:04:30 +11:00
Peter Barker
a1ea1306a1 Plane: use pure-virtual method for allows_throttle_nudging 
In place of a state variable which could become stale
 2021-01-10 16:04:30 +11:00
Andrew Tridgell
6a804c3a09 Plane: update release notes for 4.0.8beta1 
# Conflicts:
#	ArduPlane/release-notes.txt
 2021-01-06 09:37:39 +11:00
Peter Hall
0c68ec7b5c Plane: add limit to pid log metadata 2021-01-05 10:27:28 +11:00
Andrew Tridgell
96c2a5c77c Plane: added scaling for Q_TAILSIT_VFGAIN 
this scales the vectoring in fixed wing flight to remove the impact of
surface speed scaling and add throttle scaling
 2021-01-05 08:23:28 +11:00
Andrew Tridgell
a0fcef6ceb Plane: added tilt vectoring in fixed wing modes 
this allows for vectoring for roll and pitch in fixed wing modes on
tilt-vectored quadplanes
 2021-01-05 08:23:28 +11:00
Michael du Breuil
2909623057 Plane: Ensure that only one form of throttle nudging is active at once 2021-01-03 12:47:14 +11:00
Hwurzburg
913d1b81b2 Plane: correct bug that prevents QACRO rudder disarm 2021-01-02 08:59:31 +11:00
Tom Pittenger
c653ff880a Plane: extend Stream rates param count to match MAVLINK_COMM_NUM_BUFFER 2020-12-29 07:52:09 -07:00
Peter Barker
9b2ef4f6f1 Plane: move rudder-arming arm checks into Plane's AP_Arming 2020-12-29 12:55:27 +11:00
Hwurzburg
5b471c4c0e Plane: move loiter,thermal out of auto fs group 2020-12-29 10:55:00 +11:00
Iampete1
33e397c524 Plane: tailsitter: output 0 tilt with 0 vector gain 2020-12-22 11:00:59 +11:00
Iampete1
c62c19c798 Plane: tailsitter: apply gain scailing to Tilts in motors only Qassist 2020-12-22 11:00:59 +11:00
Iampete1
54ee2c35fb Plane: rename tailsitter scailing max param to match min and update descriptions 2020-12-22 11:00:59 +11:00
Iampete1
0976979045 Plane: tailsitter: set motor limit flags 2020-12-22 11:00:59 +11:00
Iampete1
c8b3c91ae5 Plane: Tailsitter add disk theory and altitude gain scailing 2020-12-22 11:00:59 +11:00
Mark Whitehorn
9bf89e5635 Plane: add check for vectored tailsitter in tailsitter_transition_vtol_complete 2020-12-21 12:56:24 +11:00
Mark Whitehorn
dd7a860f23 Plane: always instantiate AC_AttitudeControl_TS 2020-12-21 12:56:24 +11:00
Mark Whitehorn
24508f08dc Plane: don't relax pitch attitude controller for vectored tailsitters in throttle_wait 
add is_vectored_tailsitter()
instantiate AC_AttitudeControl_TS for tailsitters
 2020-12-21 12:56:24 +11:00
Andrew Tridgell
8e3c6124eb Plane: added support for rear motor tilt 
needed for X8 tilt tri test aircraft for this PR
 2020-12-21 12:05:50 +11:00
Andrew Tridgell
e94cf561d0 Plane: use rull euler control for fwd transition of tilt vectored planes 
this gives strong yaw control and wind handling for tilt vectored
planes in forward transitions. It relaxes the yaw if the user either
demands yaw with stick input or plane navigation is demanding a roll
angle for a turn

When navigation is demanded we setup yaw rate for a coordinated turn
 2020-12-21 12:05:50 +11:00
Andrew Tridgell
abd5f8351d Plane: don't reset yaw target in TRANSITION_TIMER for tilt-vectored quadplanes 2020-12-21 12:05:50 +11:00
Andrew Tridgell
ad14e153e8 Plane: fixed tilt vectoring to cope with large tilt angles 
This uses vectoring for both roll and yaw when tilted, and uses
differential thrust for yaw when tilted
 2020-12-16 08:45:11 +11:00
Peter Barker
1307a2fea8 ArduPlane: add auxillary function to change to FBWA 2020-12-15 19:14:33 +11:00
Habibullah Oladepo
739fec001f Plane: Fix typos in Parameters.cpp 2020-12-13 10:51:38 -08:00